Xu S.-S., Li S.-M., Berakdar J.
Z. Angew. Math. Mech. 87, pp 692-697 (2007)We contrast the results of the Chetaev and vakonomic models of nonholonomic mechanics when applied to the nonholonomically constrainted Appell-Hamel dynamical system with a nonvanishing constant force parallel to the tangent direction of the wheel. We find that the Chetaev result is compatible with Newton-Euler solution while the vakonomic model yields results inconsistent with the predictions of the Newton-Euler mechanics.
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